Kinesis #161
Kinesis #161
Conversation
…n certain channel configurations
…hen x, y, z channels are not 1,2,3
cassie-song
requested review from
ebersin,
ibwharri,
ichristen and
mmsutula
| Homed; | ||
| isMoving = false; | ||
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| Travel = [-2 2] * 1000; |
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Is this hardcoded for all kinesis stages, or what is this?
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We didn't fully understand what was going on here, but there seemed to be a mysterious factor of 2 between the commands that are sent in and the actual motion of the stage. As far as we know it's the same from device to device. Might be good to test on another setup, but in principle calibration could be handled by the stage calibration if it is different.
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I've now taken out the default value for calibration and travel. The travel is a required input for this BSC203 stage during initialization. I've changed the 'calibration' property name to 'factor' and made it a pref that the user can set manually depending on how the stage is responding
| obj.currentDeviceSettingsNET{i}=obj.channelsNET{i}.MotorDeviceSettings; | ||
| obj.deviceInfoNET{i} = obj.channelsNET{i}.GetDeviceInfo(); % Get deviceInfo via .NET interface | ||
| catch | ||
| error(['Unable to initialize channel ', num2str(i)]); |
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Is there anything helpful in the caught error that should be included in the rethrown error?
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Will include a line to rethrow the caught error
| end | ||
| end | ||
| else | ||
| error('Target position is out of range') |
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Could shorten this with assert(obj.checkMove(target_pos),'Target position is out of range')
| @@ -0,0 +1,2 @@ | |||
| classdef NanoMax300 < Modules.Stage | |||
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Is this just a placeholder class, or what is this?
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This might have been created by mistake. We'll consider deleting it
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This also reminds me we should consider adding a warning message when you try to open up the APT stage that is now deprecated.
ebersin
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ebersin
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Left a few comments here and there, seems good as far as I can tell, though I've never used this hardware so I'd prefer someone else approve before merge. One question; it seems like a lot of the code in the KinesisBSC203 could be in the invisible superclass; can you take a look through and see what could be generalized up one level?
Kinesis driver for stepper stages; tested to work on olympus. Swapping channels currently doesn't work, but we've just locked it in as a read-only pref for now. Will go back and fix later, just wanted to get the bulk of it reviewed.